基于模型集描述的鲁棒自适应控制

Model Sets-Based Robust Adaptive Control

对于模型阶次及系统滞后时间未知或时变系统（即结构不确定系统），建立了动力学系统的输入－输出完备描述；并以模型阶次和系统时滞为结构参数，建立了不确定系统的模型集描述。在此基础上，构造了一种带有相对死区和正则化因子的鲁棒自适应控制的显式算法，给出了全局收敛性和稳定性分析结果。

The paper proposes the model set description of uncertain systems by use of the orders and time delay systems. The robust adaptive control algorithms are put forward by making use of the normalization method and recursive least squares estimator with adequate adaptation freezing. The conditions of the global asymptotical BIBOstability and asymptotical tracking property of closed-loop systems are given.